The method involves tracking movement of spatial point in the road plane by a state estimator that includes four dimensional state vector comprising a position of spatial point in the road plane and associated speed in the road plane. A prediction for state vector is generated. The prediction is converted into image coordinates by suitable projection equations. A prediction error in image coordinates is calculated by covariance matrix. The prediction is compared with the picture element extracted in a later image. The prediction is updated based on the comparison. Independent claims are included for the following: (1) data processing device; and (2) apparatus for recognition and tracking of moving object from vehicle.
